DIPARTIMENTO DI INGEGNERIA INDUSTRIALE E DELL'INFORMAZIONE
Corso di studio
INDUSTRIAL AUTOMATION ENGINEERING - INGEGNERIA DELL'AUTOMAZIONE INDUSTRIALE
Robotics and Mechatronics
Secondo Semestre (02/03/2020 - 12/06/2020)
58 ore di attività frontale
Basic concept of Automatic Control. Discrete-time systems and elements of the Digital Control are useful.
The course aims to introduce students to the main methods of synthesis of controllers for multivariable linear continuous-time and discrete-time dynamical systems. The definitions of sensitivity, complementary sensitivity and control sensitivity function are extended and their characteristics are analyzed using appropriately defined performance indices. State estimation for deterministic and stochastic systems are presented with particular emphasis on the Kalman filtering.
Programma e contenuti
Sensitivity, complementary sensitivity and control sensitivity function. Representations of uncertainty. Analysis of robustness and performance.
Linear Quadratic Control
Problem formulation, solution algorithms, properties of robustness.
Estimators for deterministic systems. Kalman filter and predictor. Linearized and extended predictor. Applications to the estimation of uncertain parameters and diagnostics industry. H2 control.
Model Predictive Control
Problem definition. Open and clsed-loop solution. Stability.
Theoretical face-to-face lectures, blackboard exercises, Matlab exercises on the computer are provided.
Testi di riferimento
MAGNI L., R. SCATTOLINI, “Advanced and multivariable control”, Pitagora Editrice Bologna, 2014.
Modalità verifica apprendimento
Project discussion and oral examination in the first exam date at the end of the course or written examination in all the other exam dates.
Obiettivi Agenda 2030 per lo sviluppo sostenibile